CN105235593A - Flatcar boarding and on-vehicle guiding device for armored vehicle and method - Google Patents

Abstract

The invention discloses a flatcar boarding and on-vehicle guiding device for an armored vehicle and a method. The flatcar boarding and on-vehicle guiding device for the armored vehicle comprises a distance measuring device, a reflective stripe and a microcontroller, wherein the distance measuring device is arranged on the midpoint of the front end of the armored vehicle, the reflective stripe is installed at the inlet of a flatcar and is parallel to an intersecting connecting wire of the flatcar and a guiding slope, the microcontroller is connected with the distance measuring device and used for receiving electric signals to obtain angle information, the distance measuring device can emit light, the reflective stripe can be illuminated, reflected light passing through the reflective stripe is received, and the received reflected light is converted into an electrical signal. The flatcar boarding and on-vehicle guiding device for the armored vehicle has the advantages of being convenient to use, easy to operate and high in precision, and the armored vehicle can be driven to the flatcar and driven on the flatcar automatically and accurately without being directed by extra people.

Description

One steps on guiding device and method on car and car for armored vehicle flatcar

Technical field

The present invention relates to the transportation problem of armored equipment, be specifically related to one and step on guiding device and method on car and car for armored vehicle flatcar.

Background technology

Armored motor car is various crawler belt or the wheeled military vehicle with armor facing, it is the general designation that armoring military or police vehicle is housed, armored vehicle needs to make armored vehicle sail flatcar in the process of carrying out transport transfer to be shifted it, because the build of armored vehicle is larger, load-carrying is larger, the existing guiding to flatcar on armored vehicle all adopts artificial instruction, namely personnel stand on flatcar, chaufeur travel direction is indicated, the method labor intensive, the problems such as position correction precision is low, for this reason, car is stepped on and in the process that travels on flatcar at vehicle, require that chaufeur will have skilled operation skill, guiding personnel will have good topognosia, this method cannot accurately be located, simultaneously, because guiding personnel need be positioned at vehicle front, there is certain danger, personnel guide needs personnel very familiar to armored vehicle, to these personnel, also there is higher requirement, simultaneously, onboard in traveling process, for security consideration, personnel are not allowed to guide on retrogressing limit, flatcar top, needing first turns proceeds to guide position and guides, because the many cars of flatcar are connected, more piece flatcar is had from the train tailstock to headstock, guiding personnel need repeated multiple times adjustment position, affect the speed of loading of armored vehicle.

Summary of the invention

The present invention has designed and developed and has a kind ofly stepped on guiding device on car and car for armored vehicle flatcar, and object is solved in flatcar on armored vehicle and the process that travels on flatcar by apparatus of the present invention, needs personnel to guide, the problem that position correction precision is lower.

The present invention has has also designed and developed and has a kind ofly stepped on bootstrap technique on car and car for armored vehicle flatcar, object be solve existing armored vehicle is guided in upper flatcar and the process that travels on flatcar by the inventive method can not automation, the problem of precision.

The present invention has easy to use, simple to operate, and precision is high, accurate voluntarily armored vehicle can be reached flatcar and the feature travelled on flatcar without the need to supernumerary commander.

Technical scheme provided by the invention is:

One steps on guiding device on car and car for armored vehicle flatcar, comprising:

Distance measuring equipment (DME), it is arranged on the front end mid point of described armored motor car;

Reflecting strips, it is installed on described flatcar entrance, and is parallel to described flatcar and guides slope to intersect wiring; And

Microcontroller, it is connected with described distance measuring equipment (DME), for receiving electric signal, obtains angle information;

Wherein, described distance measuring equipment (DME) can launch bright dipping, is irradiated to described reflecting strips, receives the reflected light through reflecting strips, and the reflected light received is converted to described electric signal.

Preferably, also comprise: suggestion device, it is for prompting and guiding information, the relative position of real time calibration vehicle.

Preferably, described distance measuring equipment (DME) also comprises: laser rangefinder, and it is arranged on the forward position mid point of described armored motor car; Described laser rangefinder can send reflecting strips described in light beam irradiates, receive simultaneously described laser rangefinder be irradiated to described reflecting strips after reflected light, export after converting reflected light signal to described electric signal.

Preferably, described distance measuring equipment (DME) also comprises: pitch angle regulating mechanism, it comprises pipe link and strut bar, and described pipe link is connected with the control capsule detouchable in described distance measuring equipment (DME), and described distance measuring equipment (DME) is arranged on described armored vehicle front end mid point by described strut bar detouchable;

Described pitch angle regulating mechanism, by described pipe link and the activity of described strut bar junction, makes described laser rangefinder aim at described reflecting strips for regulating described distance measuring equipment (DME).

Preferably, described distance measuring equipment (DME) detouchable is arranged on the front end mid point of described armored vehicle by described strut bar by magnetic base device.

Preferably, described distance measuring equipment (DME) also comprises: rotating machine, and it is installed in the control capsule in described distance measuring equipment (DME), and described rotating machine carries out reflecting strips described in rotation sweep for controlling described distance measuring equipment (DME).

Preferably, described laser rangefinder is infrared laser, and it is fixedly connected with by bearing with described control capsule by " L " type pallet.

One steps on bootstrap technique on car and car for armored vehicle flatcar, it is characterized in that, comprises the steps:

Step one: when armored vehicle arrives flatcar rear, opens rotating machine, regulates initial angle vertical with vehicle forward position, controls the reflecting strips on flatcar described in the laser rangefinder synchronous scanning on described armored motor car;

Step 2: described laser rangefinder receives the optical signal of described reflecting strips reflection, and export after converting electric signal to, described microcontroller carries out data processing to the described electric signal received and obtains L ₁, L ₂, α, β, pass through ${00}^{\′}=\frac{L_2\×\sin \mathrm{\β}+L_1\×\cos \mathrm{\α}}{2}-\frac{{L_2}^2\×{\left(\cos \mathrm{\β}\right)}^2-{L_1}^2\×{\left(\cos \mathrm{\α}\right)}^2}{2\×(L_1\×\sin \mathrm{\α}-L_2\×\sin \mathrm{\β})}+\frac{n}{2}$ Obtain the length of the line OO ' of the intersection point O of described armored vehicle geometric centre O ' and described flatcar and described armored vehicle direct of travel line of centers, pass through ${00}^{\′\′}=\sqrt{{\left(\frac{L_2\×cos\mathrm{\β}+L_1\×cos\mathrm{\α}}{2}\right)}^2+{\left(\frac{{L_2}^2\×{\left(cos\mathrm{\β}\right)}^2-{L_1}^2\×{\left(cos\mathrm{\α}\right)}^2}{2\×(L_1\×sin\mathrm{\α}-L_2\×sin\mathrm{\β})}\right)}^2}-a$ Obtain the length of described ordinary building along mid point O " and line OO of the intersection point O of described flatcar and described armored vehicle direct of travel line of centers "; Wherein, L ₁for described laser rangefinder transmitted beam and the wire length on the second summit receiving reflection light point and described reflecting strips, L ₂for described laser rangefinder transmitted beam and the wire length on the first summit receiving reflection light point and described reflecting strips, α is described laser rangefinder transmitted beam and the line on the second summit and the angle in described armored vehicle forward position receiving reflection light point and described reflecting strips, β is described laser rangefinder transmitted beam and the line on the first summit and the angle in described armored vehicle forward position receiving reflection light point and described reflecting strips, a is the projected length of guiding slope at horizontal surface that flatcar climbed up by described armored vehicle, and n is described armored vehicle length;

Step 3: by microcontroller to OO " and OO ' judges according to following condition:

a、 ${00}^{\′\′}\≥\sqrt{\frac{m^2+n^2}{2}}$

b、OO′≥0；

When satisfy condition a and b time, described suggestion device points out described armored vehicle to move ahead; When not meeting a and b condition for the moment, described suggestion device points out described armored vehicle to fall back, and recalibrates until a and b that satisfy condition; Wherein, m is described armored vehicle width, and n is described armored vehicle length;

When obtaining OO '=0 by described microcontroller processing data, judgement is carried out to β as follows:

When time, point out described armored vehicle flicker;

When time, point out described armored vehicle flicker;

When time, point out described armored vehicle to move ahead;

Step 4: after described armored vehicle starts to climb up flatcar, pitch angle regulating mechanism on adjustment armored motor car makes laser rangefinder aim at front flatcar planar transmit laser beam, described laser rangefinder receiving optical signals, export after converting electric signal to, described microcontroller carries out data processing to the described electric signal received and obtains L ₁', L ₂', β '-α ', adjusts described armored vehicle and described laser rangefinder, meets formula ${({\mathrm{\β}}^{\′}-{\mathrm{\α}}^{\′})}_{\min }=2\×arcsin\left(\frac{b}{2\×\sqrt{x^2+\frac{b^2}{4}+h^2}}\right),$ Described laser rangefinder transmitted beam angle now can be made vertical with described armored vehicle forward position and aim at described armored vehicle to advance in flatcar plane direction plane forward position mid point; Wherein, x=h × tan θ, h is the height of described laser rangefinder apart from described plane, θ is the angle that described pitch angle regulating mechanism regulates, x is flatcar plane length, the angle that β '-α ' advances between the two end point connecting line of direction plane forward position in flatcar plane for described laser rangefinder and described armored vehicle, b is the width of flatcar, L ₁' be the wire length on the first summit of described laser rangefinder and described flatcar plane, L ₂' be the wire length on the second summit of described laser rangefinder and described flatcar plane;

Judged by following condition:

Condition one:

Pass through L ₁', L ₂' judge:

Work as L ₁' > L ₂in ' time, point out described armored vehicle flicker;

Work as L ₁' < L ₂in ' time, point out described armored vehicle flicker;

Work as L ₁'=L ₂in ' time, described armored vehicle is pointed out to move ahead;

Condition two:

By α ', β ' judge:

When time, point out described armored vehicle flicker;

When time, point out described armored vehicle flicker;

When time, point out described armored vehicle to move ahead;

Wherein, described armored vehicle judges according to described condition one or described condition two.

Preferably, in described step 2, step 4, when described laser rangefinder receives reflected light, convert reflected light signal to electric signal, export electric signal, described microcontroller, by detecting described electric signal, obtains level x pulse-time, according to the rotating speed of described laser rangefinder synchronous rotary, calculate α, β, α ', β '.

Preferably, the angular range that described microcontroller can process is 0 < δ < π.

Beneficial effect of the present invention:

1, the guiding device of the application of the invention and bootstrap technique, without the need to extra staffing, just accurately can reach flatcar by armored vehicle by chaufeur oneself, saves human resources, eliminate and guide had danger by personnel;

2, guiding device provided by the present invention is easy for installation, simple to operate, due to one group of angle corresponding armored vehicle unique positions relation that distance measuring equipment (DME) records, so accurate location can be realized by detecting two ends angular range after setting parameter, calibrating position, after upper flatcar, pass through transfer algorithm, adjust the pitch angle of pitch angle regulating mechanism simultaneously, make it to scan flatcar car face, can obtain the relative position of armored vehicle and flatcar center line, and then the guiding armored vehicle realizing accurate quick reaches flatcar and guides on flatcar;

3, the present invention can also according to the size of different vehicle, and setting variable, selecting vehicle, in use, applying widely by making the present invention have to the setting of parameter.

4, the present invention is not by the restriction of flatcar motion morphology, and when flatcar is advanced or be static, armored vehicle all can be guided by the present invention, can reach flatcar and the traveling on flatcar fast and accurately.

Accompanying drawing explanation

Fig. 1 is the structural representation of distance measuring equipment (DME) of the present invention.

Fig. 2 is the full view of distance measuring equipment (DME) of the present invention.

Fig. 3 is the structural representation of pitch angle regulating mechanism of the present invention.

Fig. 4 is that car of stepping on of the present invention guides principle schematic.

Car of the present invention guides principle schematic to Fig. 5.

Fig. 6 is guide plane principle schematic on car of the present invention.

Fig. 7 is that bootstrap technique of the present invention guides the right angle scope of armored vehicle in the process of upper flatcar.

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is described in further detail, can implement according to this with reference to specification sheets word to make those skilled in the art.

As shown in Figure 1, Figure 2, Figure 3 shows, the invention provides one and step on guiding device on car and car for armored vehicle flatcar, it comprises distance measuring equipment (DME) 100, microcontroller and reflecting strips, wherein, distance measuring equipment (DME) 100 is arranged on armored vehicle front end mid point, microcontroller is connected with distance measuring equipment (DME) 100, for receiving electric signal, angle information is obtained by carrying out data processing to electric signal, reflecting strips is arranged on the entrance for the treatment of flatcar, and itself and armored vehicle are climbed up the guiding slope of flatcar and flatcar and connected and locate parallel handing-over, wherein, distance measuring equipment (DME) 100 comprises laser rangefinder 110, it is arranged on the forward position mid point of armored vehicle, laser rangefinder 110 is infrared laser, be fixedly connected with by bearing 112 with control capsule 120 by " L " type pallet 111, adopt infrared laser as laser rangefinder, laser rangefinder is made to have higher stability, anti-external interference is strong, monochromaticity is good, make measurement accurate, after laser rangefinder 110 can send light beam irradiates reflecting strips, can receive laser rangefinder 110 be irradiated to reflecting strips after reflected light, export after reflected light signal being converted to electric signal.

In another kind of embodiment, also comprise: suggestion device, it can be used in prompting and guiding information, the relative position of real time calibration armored vehicle; In the present embodiment, suggestion device is read-out, it can be arranged on Armored Vehicle Driving chamber interior, chaufeur can pass through the relative position of the information real time calibration vehicle of read-out, and this mode is a kind of explanation of preferred embodiments, but be not limited thereto, when implementing of the present invention, aspect can being implemented according to user's demand, replacing read-out by using voice message.

In another kind of embodiment, distance measuring equipment (DME) 100 also comprises: pitch angle regulating mechanism 130, it comprises pipe link 131 and strut bar 132, pitch angle regulating mechanism 130 is movable by the junction of pipe link 131 and strut bar 132, for regulating distance measuring equipment (DME) 100, laser rangefinder 110 accurately can be located and aim at described reflecting strips, and regulate after by laser rangefinder 110 can on armored vehicle flatcar process in always keep can be irradiated to reflecting strips, pipe link 131 is fixedly mounted by bolt and nut detouchable with control capsule 120, distance measuring equipment (DME) 100 is arranged on armored vehicle front end mid point by strut bar 132 detouchable, in the present embodiment, distance measuring equipment (DME) 100 is arranged on magnetic base device by strut bar 132 detouchable, by magnetic base device, distance measuring equipment (DME) 100 detouchable is fixedly mounted on armored vehicle front end mid point again, and, this mode is a kind of explanation of preferred embodiments, but is not limited thereto, when implementing of the present invention, aspect can be implemented according to user's installation requirements, can the present invention be implemented equally by detouchable bolt and nut.

In another kind of embodiment, control capsule 120 inside is also provided with storage battery 122, and it is connected with rotating machine 121, can power for rotating machine 121, make its distance measuring equipment (DME) 100 when without when extraneous power supply individual operation use.

As shown in Fig. 4, Fig. 5 and Fig. 6, present invention also offers one and step on bootstrap technique on car and car for armored vehicle flatcar, comprise the steps:

Step one: take laser rangefinder as initial point (0,0) system of axes is set up, the forward position of armored vehicle is that X-axis sets up system of axes, if A, B is two summits of reflecting strips, wherein, A is the first summit of reflecting strips, B is the second summit of reflecting strips, flatcar and armored vehicle is approximately rectangle and considers, do the line of centers on both direct of travels, if the intersection point of two line of centerss is O, the geometric centre of armored vehicle is O ', and ordinary building is O along mid point ", laser rangefinder transmitted beam and reception reflection light point are C;

Step 2: when arrival flatcar rear advanced by armored vehicle, open rotating machine 121, regulate initial angle vertical with vehicle forward position, control reflecting strips described in laser rangefinder 110 synchronous scanning, control rotating machine 121 and make laser rangefinder 110 scan the first summit A and the second summit B of reflecting strips;

Step 3: laser rangefinder 110 receives the optical signal of reflected light back, exports after converting electric signal to, and microcontroller obtains L by analyzing post-processing data to the electric signal received ₁, L ₂, α, β, then reflecting strips first summit, namely the coordinate of A point is (L ₂× cos β, L ₂× sin β), reflecting strips second summit, namely the coordinate of B point is (L ₁× cos α, L ₁× sin α), pass through ${00}^{\&prime;}=\frac{L_2\&times;\sin \mathrm{\&beta;}+L_1\&times;\cos \mathrm{\&alpha;}}{2}-\frac{{L_2}^2\&times;\left({\mathrm{cos\&beta;}}^2\right)-{L_1}^2\&times;{\left(\cos \mathrm{\&alpha;}\right)}^2}{2\&times;(L_1\&times;\sin \mathrm{\&alpha;}-L_2\&times;\sin \mathrm{\&beta;})}+\frac{n}{2}$ Obtain the length of the line OO ' of the intersection point O of armored vehicle geometric centre O ' and flatcar and armored vehicle direct of travel line of centers, pass through ${00}^{\&prime;\&prime;}=\sqrt{{\left(\frac{L_2\&times;cos\mathrm{\&beta;}+L_1\&times;cos\mathrm{\&alpha;}}{2}\right)}^2+{\left(\frac{{L_2}^2\&times;{\left(cos\mathrm{\&beta;}\right)}^2-{L_1}^2\&times;{\left(cos\mathrm{\&alpha;}\right)}^2}{2\&times;(L_1\&times;sin\mathrm{\&alpha;}-L_2\&times;sin\mathrm{\&beta;})}\right)}^2}-a$ Obtain the length of ordinary building along mid point O " and line OO of the intersection point O of flatcar and armored vehicle direct of travel line of centers ", wherein, L ₁for laser rangefinder 110 transmitted beam and the length of line CB of the second summit B receiving reflection light point C and reflecting strips, L ₂for laser rangefinder 110 transmitted beam and the length of line CA of the first summit A receiving reflection light point C and reflecting strips, α is the line CB of laser rangefinder 110 transmitted beam and the second summit B receiving reflection light point C and reflecting strips and the angle in the armored vehicle forward position near flatcar, β is the line CA of laser rangefinder 110 transmitted beam and the first summit A receiving reflection light point C and reflecting strips and the angle in the armored vehicle forward position near flatcar, a is the projected length of guiding slope at horizontal surface that flatcar climbed up by described armored vehicle, n is the approximate rectangular length of armored vehicle, L ₁, L ₂, a, n unit is rice,

Step 4: by microcontroller to OO " and OO ' judges according to following condition:

a、 ${00}^{\&prime;\&prime;}\&GreaterEqual;\sqrt{\frac{m^2+n^2}{2}}$

b、OO′≥0；

Armored vehicle does not collide a and b that should satisfy condition, and suggestion device prompting chaufeur armored vehicle can continue to move ahead; When not meeting a and b condition for the moment, suggestion device prompting chaufeur armored vehicle should fall back, and recalibrates until a and b that satisfy condition; Wherein, m is the approximate rectangular width of armored vehicle, and n is the approximate rectangular length of armored vehicle, and m and n unit is rice;

Step 5: when armored vehicle is in traveling process, when microcontroller is by obtaining OO '=0 to signal analysis and processing data, it is as follows that microcontroller carries out judgement to β again:

When time, by suggestion device prompting armored vehicle flicker;

When time, by suggestion device prompting armored vehicle flicker;

When time, moved ahead by suggestion device prompting armored vehicle;

As further preferred, in step 5, the length of reflecting strips is the half of flatcar lateral length AB, and one end of reflecting strips is positioned at horizontal one end of flatcar, and the other end of reflecting strips is positioned at the mid point of the lateral length AB of flatcar.When armored vehicle is in traveling process, when microcontroller is by obtaining OO '=0 to signal analysis and processing data, it is as follows that microcontroller carries out judgement to β again:

When time, by suggestion device prompting armored vehicle flicker;

When time, by suggestion device prompting armored vehicle flicker;

When time, moved ahead by suggestion device prompting armored vehicle;

Wherein, α is the line CB of laser rangefinder 110 transmitted beam and the second summit B receiving reflection light point C and reflecting strips and the angle in the armored vehicle forward position near flatcar, and β is the line CA of laser rangefinder 110 transmitted beam and the first summit A receiving reflection light point C and reflecting strips and the angle in the armored vehicle forward position near flatcar;

Step 6: after armored vehicle starts to climb up flatcar, pitch angle regulating mechanism 130 on adjustment armored motor car makes laser rangefinder 110 aim at flatcar planar transmit laser beam, laser rangefinder 110 receiving optical signals, export after converting electric signal to, microcontroller carries out data processing to the electric signal received and obtains L ₁', L ₂', β '-α ', adjustment armored vehicle and laser rangefinder 110, make β '-α ' meet formula ${({\mathrm{\&beta;}}^{\&prime;}-{\mathrm{\&alpha;}}^{\&prime;})}_{\min }=2\&times;arcsin\left(\frac{b}{2\&times;\sqrt{x^2+\frac{b^2}{4}+h^2}}\right),$ Described laser rangefinder 110 transmitted beam angle now can be made vertical with described armored vehicle forward position and aim at described armored vehicle to advance in flatcar plane direction plane forward position mid point, wherein, x=h × tan θ, h is the height of laser rangefinder 110 apart from flatcar plane, θ is pitch angle regulating mechanism 130 adjusting angle, make laser rangefinder 110 can be irradiated to armored vehicle to advance in flatcar plane two end points in direction plane forward position, β '-α ' is the angle between laser rangefinder 110 transmitted beam and reception reflection light point C and flatcar plane first summit A ' and the second summit B ' line, b is the width of flatcar plane, x is flatcar plane length, α ' is laser rangefinder 110 transmitted beam and the line CA ' of the first summit A ' and the angle in described armored vehicle forward position that receive reflection light point C and flatcar plane, β ' is laser rangefinder 110 transmitted beam and the line CB ' of the second summit B ' and the angle in armored vehicle forward position that receive reflection light point C and flatcar plane, L ₁' be laser rangefinder 110 transmitted beam and the line CA ' length of the first summit A ' receiving reflection light point C and flatcar plane, L ₂' be laser rangefinder 110 transmitted beam and the line CB ' length of the second summit B ' receiving reflection light point C and flatcar plane, L ₁', L ₂', h, b, x unit is rice,

Judged by following condition:

Condition one:

Pass through L ₁', L ₂' judge:

Work as L ₁' > L ₂in ' time, by suggestion device prompting armored vehicle flicker;

Work as L ₁' < L ₂in ' time, by suggestion device prompting armored vehicle flicker;

Work as L ₁'=L ₂in ' time, moved ahead by suggestion device prompting armored vehicle;

Condition two:

By α ', β ' judge:

When time, by suggestion device prompting armored vehicle flicker;

When time, by suggestion device prompting armored vehicle flicker;

When time, moved ahead by suggestion device prompting armored vehicle;

Wherein, described armored vehicle judges according to described condition one or described condition two.

In another kind of embodiment, in step 3, step 5 and step 6, laser rangefinder 110 receives in the process of reflected light and produces optical signal, meanwhile, converts this reflected light signal to electric signal and outputs to microcontroller, microcontroller obtains level x pulse-time by detecting this electric signal, again according to the rotating speed of laser rangefinder synchronous rotary, data processing can be obtained α, β, α ', β '.

In another kind of embodiment, as shown in Figure 7, the angular range that microcontroller can process is 0 < δ < π, then the angular range that armored vehicle can be corrected by guiding device provided by the invention is wherein, a is the projected length of guiding slope at horizontal surface that flatcar climbed up by described armored vehicle, and b is the width of reflecting strips, and a and b unit is rice.

In another kind of embodiment, in described step 6, as shown in Figure 5, Figure 6, formula can be passed through according to pitch angle regulating mechanism 130 apart from the height distance h of flatcar plane and the angle θ of adjustment $({\mathrm{\&beta;}}^{\&prime;}-{\mathrm{\&alpha;}}^{\&prime;})=arccos(1-\frac{b^2}{2\&times;(x^2+\frac{b^2}{4}+h^2)})$ Obtain β '-α '; Wherein, x=h × tan θ, h is the height of laser rangefinder 110 apart from flatcar plane, θ is pitch angle regulating mechanism 130 adjusting angle, x is flatcar plane length, and β '-α ' is the angle between laser rangefinder 110 transmitted beam and reception reflection light point C and flatcar plane first summit A ' and the second summit B ' line, x, h, b unit is rice.

Although embodiment of the present invention are open as above, but it is not restricted to listed in specification sheets and embodiment utilization, it can be applied to various applicable the field of the invention completely, for those skilled in the art, can easily realize other amendment, therefore do not deviating under the universal that claim and equivalency range limit, the present invention is not limited to specific details and illustrates here and the legend described.

Claims (10)

1. step on a guiding device on car and car for armored vehicle flatcar, it is characterized in that, comprising:

Distance measuring equipment (DME), it is arranged on the front end mid point of described armored motor car;

Reflecting strips, it is installed on described flatcar entrance, and is parallel to described flatcar and guides slope to intersect wiring; And

Microcontroller, it is connected with described distance measuring equipment (DME), for receiving electric signal, obtains angle information;

Wherein, described distance measuring equipment (DME) can launch bright dipping, is irradiated to described reflecting strips, receives the reflected light through reflecting strips, and the reflected light received is converted to described electric signal.

2. step on guiding device on car and car for armored vehicle flatcar as claimed in claim 1, it is characterized in that, also comprise: suggestion device, it is for prompting and guiding information, the relative position of real time calibration vehicle.

3. step on guiding device on car and car for armored vehicle flatcar as claimed in claim 1 or 2, it is characterized in that, described distance measuring equipment (DME) also comprises: laser rangefinder, and it is arranged on the forward position mid point of described armored motor car; Described laser rangefinder can send reflecting strips described in light beam irradiates, receive simultaneously described laser rangefinder be irradiated to described reflecting strips after reflected light, export after converting reflected light signal to described electric signal.

4. step on guiding device on car and car for armored vehicle flatcar as claimed in claim 3, it is characterized in that, described distance measuring equipment (DME) also comprises: pitch angle regulating mechanism, it comprises pipe link and strut bar, described pipe link is connected with the control capsule detouchable in described distance measuring equipment (DME), and described distance measuring equipment (DME) is arranged on described armored vehicle front end mid point by described strut bar detouchable;

Described pitch angle regulating mechanism, by described pipe link and the activity of described strut bar junction, makes described laser rangefinder aim at described reflecting strips for regulating described distance measuring equipment (DME).

5. step on guiding device on car and car for armored vehicle flatcar as claimed in claim 4, it is characterized in that, described distance measuring equipment (DME) detouchable is arranged on the front end mid point of described armored vehicle by described strut bar by magnetic base device.

6. step on guiding device on car and car for armored vehicle flatcar as claimed in claim 5, it is characterized in that, described distance measuring equipment (DME) also comprises: rotating machine, it is installed in the control capsule in described distance measuring equipment (DME), and described rotating machine carries out reflecting strips described in rotation sweep for controlling described distance measuring equipment (DME).

7. step on guiding device on car and car for armored vehicle flatcar as claimed in claim 5, it is characterized in that, described laser rangefinder is infrared laser, and it is fixedly connected with by bearing with described control capsule by " L " type pallet.

8. step on a bootstrap technique on car and car for armored vehicle flatcar, it is characterized in that, comprise the steps:

Step one: when armored vehicle arrives flatcar rear, opens rotating machine, regulates initial angle vertical with vehicle forward position, controls the reflecting strips on flatcar described in the laser rangefinder synchronous scanning on described armored motor car;

Step 2: described laser rangefinder receives the optical signal of described reflecting strips reflection, and export after converting electric signal to, described microcontroller carries out data processing to the described electric signal received and obtains L ₁, L ₂, α, β, pass through ${\mathrm{OO}}^{\&prime;}=\frac{L_2\&times;\sin \mathrm{\&beta;}+L_1\&times;\cos \mathrm{\&alpha;}}{2}-\frac{{L_2}^2\&times;{\left(\cos \mathrm{\&beta;}\right)}^2-{L_1}^2\&times;{\left(\cos \mathrm{\&alpha;}\right)}^2}{2\&times;\left(L_1\&times;\sin \mathrm{\&alpha;}-L_2\&times;\sin \mathrm{\&beta;}\right)}+\frac{n}{2}$ Obtain the length of the line OO ' of the intersection point O of described armored vehicle geometric centre O ' and described flatcar and described armored vehicle direct of travel line of centers, pass through ${\mathrm{OO}}^{\&prime;\&prime;}=\sqrt{{\left(\frac{L_2\&times;cos\mathrm{\&beta;}+L_1\&times;cos\mathrm{\&alpha;}}{2}\right)}^2+{\left(\frac{{L_2}^2\&times;{\left(cos\mathrm{\&beta;}\right)}^2-{L_1}^2\&times;{\left(cos\mathrm{\&alpha;}\right)}^2}{2\&times;(L_1\&times;sin\mathrm{\&alpha;}-L_2\&times;sin\mathrm{\&beta;})}\right)}^2}-a$ Obtain the length of described ordinary building along mid point O " and line OO of the intersection point O of described flatcar and described armored vehicle direct of travel line of centers "; Wherein, L ₁for described laser rangefinder transmitted beam and the wire length on the second summit receiving reflection light point and described reflecting strips, L ₂for described laser rangefinder transmitted beam and the wire length on the first summit receiving reflection light point and described reflecting strips, α is described laser rangefinder transmitted beam and the line on the second summit and the angle in described armored vehicle forward position receiving reflection light point and described reflecting strips, β is described laser rangefinder transmitted beam and the line on the first summit and the angle in described armored vehicle forward position receiving reflection light point and described reflecting strips, a is the projected length of guiding slope at horizontal surface that flatcar climbed up by described armored vehicle, and n is described armored vehicle length;

Step 3: by microcontroller to OO " and OO ' judges according to following condition:

a、 ${\mathrm{OO}}^{\&prime;\&prime;}\&GreaterEqual;\sqrt{\frac{m^2+n^2}{2}}$

b、OO′≥0；

When satisfy condition a and b time, described suggestion device points out described armored vehicle to move ahead; When not meeting a and b condition for the moment, described suggestion device points out described armored vehicle to fall back, and recalibrates until a and b that satisfy condition; Wherein, m is described armored vehicle width, and n is described armored vehicle length;

When obtaining OO '=0 by described microcontroller processing data, judgement is carried out to β as follows:

When time, point out described armored vehicle flicker;

When time, point out described armored vehicle flicker;

When time, point out described armored vehicle to move ahead;

Step 4: after described armored vehicle starts to climb up flatcar, pitch angle regulating mechanism on adjustment armored motor car makes laser rangefinder aim at front flatcar planar transmit laser beam, described laser rangefinder receiving optical signals, export after converting electric signal to, described microcontroller carries out data processing to the described electric signal received and obtains L ₁', L ₂', β '-α ', adjusts described armored vehicle and described laser rangefinder, meets formula ${\left({\mathrm{\&beta;}}^{\&prime;}-{\mathrm{\&alpha;}}^{\&prime;}\right)}_{\min }=2\&times;arcsin\left(\frac{b}{2\&times;\sqrt{x^2+\frac{b^2}{4}+h^2}}\right),$ Described laser rangefinder transmitted beam angle now can be made vertical with described armored vehicle forward position and aim at described armored vehicle to advance in flatcar plane direction plane forward position mid point; Wherein, x=h × tan θ, h is the height of described laser rangefinder apart from described plane, θ is the angle that described pitch angle regulating mechanism regulates, x is flatcar plane length, the angle that β '-α ' advances between the two end point connecting line of direction plane forward position in flatcar plane for described laser rangefinder and described armored vehicle, b is the width of flatcar, L ₁' be the wire length on the first summit of described laser rangefinder and described flatcar plane, L ₂' be the wire length on the second summit of described laser rangefinder and described flatcar plane;

Judged by following condition:

Condition one:

Pass through L ₁', L ₂' judge:

Work as L ₁' > L ₂in ' time, point out described armored vehicle flicker;

Work as L ₁' < L ₂in ' time, point out described armored vehicle flicker;

Work as L ₁'=L ₂in ' time, described armored vehicle is pointed out to move ahead;

Condition two:

By α ', β ' judge:

When time, point out described armored vehicle flicker;

When time, point out described armored vehicle flicker;

When time, point out described armored vehicle to move ahead;

Wherein, described armored vehicle judges according to described condition one or described condition two.

9. step on bootstrap technique on car and car for armored vehicle flatcar as claimed in claim 8, it is characterized in that, in described step 2, step 4, when described laser rangefinder receives reflected light, convert reflected light signal to electric signal, export electric signal, described microcontroller is by detecting described electric signal, obtain level x pulse-time, according to the rotating speed of described laser rangefinder synchronous rotary, calculate α, β, α ', β '.

10. step on bootstrap technique on car and car for armored vehicle flatcar as claimed in claim 9, it is characterized in that, the angular range that described microcontroller can process is 0 < δ < π.